KUKA.Sim / KUKA OLP - DS-SIM Public Tools

Extensions and Python Add-ons
1

If you work with KUKA robots in KUKA.Sim (Add On) or KUKA OLP, this Python add on adds some functions that can make your life easier:

  • Import of $config.dat file properties (Base/Basename, Tool/Toolname, LoadData)

  • Save and load signal connections of a robot (e.g. if you have to manually exchange a robot)

  • Mirror position statements (for mirrored parts etc.)

  • Adapt position statements with a relative offset or absolute values for selectable parameters of the statements (Coordinates, external axis values, …)

  • Adapt Tool or Base of selected statements without changing robot pose in those statements

  • Add an input to a component. Connect a Boolean signal to this input to show or hide the component while the simulation is running

DS_SIM_Public_Tools
DS_SIM_Public_Tools870×349 35 KB

To install the add on download the zip file below, then unzip the package and copy the folder “kuka_sim_extensions” to the MyCommands folder of your simulation software. The MyCommands folder should be located in your personal documents folder.
Example:
C:\Users\%username%\OneDrive - KUKA AG\Documents\KUKA\KUKA.Sim 4.3\My Commands
(be aware that the path might be slightly different on your system, due to language settings!)

kuka_sim_extensions_V2.0.zip (1.6 MB)

You can find more detailed information regarding add ons and how to install them in the Visual Components Academy

EDITS

EDIT 2023-10-27:

  • New version V1.1
  • Changed folder structure of add on
  • Fixed some issues in Save/Load Signal Connections
  • Added features
    • Helpers/AdaptStatements
      → select multiple statements and adapt various parmeters of those statements, e.g. ablolute value for an external axis or a relative offset for a coordinate

NOTE:

  • There still seem to be other issues in Save/Load Signal Connection
    __

EDIT 2023-11-03:

  • New version V1.2
  • Fixed bug in Save/Load Signal Connections
    __

EDIT 2024-06-17:

  • New version V1.3
  • Import Tools/Bases (PROGRAM / DS-SIM Public Tools / Import)
    → enhanced support for various syntax in config.dat regarding HOME positions
  • Added functions
    • Change Tool/Base (PROGRAM / DS-SIM Public Tools / Helpers)
      → Adapt Tool or Base of all selected statements without changing robot pose in those statements
    • Show/Hide component via Signal (MODELING / DS-SIM Public Tools / Wizards)
      → Adds an input to a component. Connect a Boolean signal to this input to show or hide the component while the simulation is running
      __

EDIT 2024-10-08:

  • New version V2.0
  • Changed package name to kuka_sim_extensions
  • Changed package structure
    → therefore it is necessary that the folder name located in my commands is “kuka_sim_extensions”
  • older versions of this add on have to be deleted to use this version
  • Added functions
    • Visibility Assistant (MODELING / DS-SIM Public Tools / Wizards)
      → marking of invisible features with a suffix (suffix can also be deleted if necessary)
      → all marked features then can be set visible or invisible with one click
      → force all available features of a component to be invisible or visible

Known issues

9 Likes
2

Hello…where can i download the add-on??

3

Forgot to add it while creating the post, I now added it to the original post above.

4

Thanks, works perfectly.
Best regards, Christoph

5

Info for new users
To install the add on unzip the files and copy the unzipped folder “DS_SIM_Public_Tools_V1-0” to the following location:
C:\Users%username%\OneDrive - KUKA AG\Dokumente\KUKA\KUKA.Sim 4.3\My Commands

6

Hi, can you add support for Kuka.Sim 3.1
I am trying to start it there, but it says cant find file named kuka and is not starting.
I need to be able to mirror positions
Thanks!
V

7

Hi, There is no plan at the moment to make this compatible with Sim 3.1. The Sim 3.1 programming page is a whole different story and I don’t have any experience how to create motion commands there. As Sim 3.1 is discontinued at this point I will not get into that. You could work with a trial version of Sim 4 or buy Sim 4 at the yearly license is quite affordable.

1 Like
8

thanks, this time i did it manually already :slight_smile: but i will need to upgrade it seems
Here is the result :

9

Updated to version DS_Sim_V1.1

3 Likes
10

Updated to version DS_Sim_V1.2

11

C:\Users%username%\Dokumente\KUKA\KUKA.Sim 4.3\My Commands

12

I think you are missing a backslash after Users
C:\Users%username%\Dokumente\KUKA\KUKA.Sim 4.3\My Commands

1 Like
13

Added version 1.3, changes are mentioned in the original post above.

1 Like
14

Added version 2.0, changes are mentioned in the original post above.

1 Like
15

Hello, I tried to install this add ons in VC 4.9.2. Unfortunately I receive an error message “no kuka module found” while starting VC.

16

Hi,
most of the functions have been created and tested for KUKA.Sim and the KUKA OLP Add On for VC Premium.
But I am not aware that the Python add on should create any errors while starting the software. Did you already work with previous version of this add on?
Can you share a screenshot of the error?

17

Hi mastu,
attached is the screenshot.

It seems like clicking on “Import Tools/Bases” doesn´t work. The dialog will not open.
I´m working on VC Premium 4.9.2 with KUKA.Sim AddOn enabled.

Best regards

18

I also tried to use the latest version:

image
image1562×408 52.1 KB

19

Ok, just tested this myself.
Apparently the kuka.py file has been relocated in the installation folder of VC which results in this error. I will not adapt the package to cope with this issue, because then KUKA.Sim will have other errors.

Please use the following workaround:

  1. Go the installation folder of VC and copy the file kuka.py
    C:\Program Files\Visual Components\Visual Components Premium 4.9\Python\lib

  2. Paste kuka.py in this location
    C:\Program Files\Visual Components\Visual Components Premium 4.9\Python 2\lib

This should resolve the issue.

1 Like
20

Thanks it works now!